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<div class="title">fpfh.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_IMPL_FPFH_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FEATURES_IMPL_FPFH_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/fpfh.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/pfh_tools.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#ab9e1a82df2cfe1b5ac5bef3060f093a7">   49</a></span>&#160;<a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#ab9e1a82df2cfe1b5ac5bef3060f093a7">pcl::FPFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::computePairFeatures</a> (</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals,</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordtype">int</span> p_idx, <span class="keywordtype">int</span> q_idx, <span class="keywordtype">float</span> &amp;f1, <span class="keywordtype">float</span> &amp;f2, <span class="keywordtype">float</span> &amp;f3, <span class="keywordtype">float</span> &amp;f4)</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  pcl::computePairFeatures (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[p_idx].getVector4fMap (), normals.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[p_idx].getNormalVector4fMap (),</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[q_idx].getVector4fMap (), normals.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[q_idx].getNormalVector4fMap (),</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      f1, f2, f3, f4);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#ac1f596c9f4cfc10f4a89684ac48ba3e6">   61</a></span>&#160;<a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#ac1f596c9f4cfc10f4a89684ac48ba3e6">pcl::FPFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::computePointSPFHSignature</a> (</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals,</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">int</span> p_idx, <span class="keywordtype">int</span> row, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    Eigen::MatrixXf &amp;hist_f1, Eigen::MatrixXf &amp;hist_f2, Eigen::MatrixXf &amp;hist_f3)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;{</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  Eigen::Vector4f pfh_tuple;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="comment">// Get the number of bins from the histograms size</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">int</span> nr_bins_f1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (hist_f1.cols ());</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">int</span> nr_bins_f2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (hist_f2.cols ());</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordtype">int</span> nr_bins_f3 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (hist_f3.cols ());</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="comment">// Factorization constant</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">float</span> hist_incr = 100.0f / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(indices.size () - 1);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="comment">// Iterate over all the points in the neighborhood</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices.size (); ++idx)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">// Avoid unnecessary returns</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">if</span> (p_idx == indices[idx])</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="comment">// Compute the pair P to NNi</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">if</span> (!computePairFeatures (cloud, normals, p_idx, indices[idx], pfh_tuple[0], pfh_tuple[1], pfh_tuple[2], pfh_tuple[3]))</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="comment">// Normalize the f1, f2, f3 features and push them in the histogram</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordtype">int</span> h_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_bins_f1 * ((pfh_tuple[0] + M_PI) * d_pi_)));</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordflow">if</span> (h_index &lt; 0)           h_index = 0;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">if</span> (h_index &gt;= nr_bins_f1) h_index = nr_bins_f1 - 1;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    hist_f1 (row, h_index) += hist_incr;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    h_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_bins_f2 * ((pfh_tuple[1] + 1.0) * 0.5)));</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">if</span> (h_index &lt; 0)           h_index = 0;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordflow">if</span> (h_index &gt;= nr_bins_f2) h_index = nr_bins_f2 - 1;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    hist_f2 (row, h_index) += hist_incr;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    h_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_bins_f3 * ((pfh_tuple[2] + 1.0) * 0.5)));</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">if</span> (h_index &lt; 0)           h_index = 0;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordflow">if</span> (h_index &gt;= nr_bins_f3) h_index = nr_bins_f3 - 1;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    hist_f3 (row, h_index) += hist_incr;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;}</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#a3b1ef7299aed97415635996347aa5992">  106</a></span>&#160;<a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a3b1ef7299aed97415635996347aa5992">pcl::FPFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::weightPointSPFHSignature</a> (</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">const</span> Eigen::MatrixXf &amp;hist_f1, <span class="keyword">const</span> Eigen::MatrixXf &amp;hist_f2, <span class="keyword">const</span> Eigen::MatrixXf &amp;hist_f3,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, <span class="keyword">const</span> std::vector&lt;float&gt; &amp;dists, Eigen::VectorXf &amp;fpfh_histogram)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;{</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  assert (indices.size () == dists.size ());</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordtype">double</span> sum_f1 = 0.0, sum_f2 = 0.0, sum_f3 = 0.0;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">float</span> weight = 0.0, val_f1, val_f2, val_f3;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">// Get the number of bins from the histograms size</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordtype">int</span> nr_bins_f1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (hist_f1.cols ());</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordtype">int</span> nr_bins_f2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (hist_f2.cols ());</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordtype">int</span> nr_bins_f3 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (hist_f3.cols ());</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keywordtype">int</span> nr_bins_f12 = nr_bins_f1 + nr_bins_f2;</div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#ab9e1a82df2cfe1b5ac5bef3060f093a7">  119</a></span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="comment">// Clear the histogram</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  fpfh_histogram.setZero (nr_bins_f1 + nr_bins_f2 + nr_bins_f3);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="comment">// Use the entire patch</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0, data_size = indices.size (); idx &lt; data_size; ++idx)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="comment">// Minus the query point itself</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (dists[idx] == 0)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="comment">// Standard weighting function used</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    weight = 1.0f / dists[idx];</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">// Weight the SPFH of the query point with the SPFH of its neighbors</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#ac1f596c9f4cfc10f4a89684ac48ba3e6">  134</a></span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> f1_i = 0; f1_i &lt; nr_bins_f1; ++f1_i)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      val_f1 = hist_f1 (indices[idx], f1_i) * weight;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      sum_f1 += val_f1;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      fpfh_histogram[f1_i] += val_f1;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> f2_i = 0; f2_i &lt; nr_bins_f2; ++f2_i)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      val_f2 = hist_f2 (indices[idx], f2_i) * weight;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      sum_f2 += val_f2;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      fpfh_histogram[f2_i + nr_bins_f1] += val_f2;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> f3_i = 0; f3_i &lt; nr_bins_f3; ++f3_i)</div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#a3b1ef7299aed97415635996347aa5992">  149</a></span>&#160;    {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      val_f3 = hist_f3 (indices[idx], f3_i) * weight;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      sum_f3 += val_f3;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      fpfh_histogram[f3_i + nr_bins_f12] += val_f3;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keywordflow">if</span> (sum_f1 != 0)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    sum_f1 = 100.0 / sum_f1;           <span class="comment">// histogram values sum up to 100</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordflow">if</span> (sum_f2 != 0)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    sum_f2 = 100.0 / sum_f2;           <span class="comment">// histogram values sum up to 100</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordflow">if</span> (sum_f3 != 0)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    sum_f3 = 100.0 / sum_f3;           <span class="comment">// histogram values sum up to 100</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="comment">// Adjust final FPFH values</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> f1_i = 0; f1_i &lt; nr_bins_f1; ++f1_i)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    fpfh_histogram[f1_i] *= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sum_f1);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> f2_i = 0; f2_i &lt; nr_bins_f2; ++f2_i)</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    fpfh_histogram[f2_i + nr_bins_f1] *= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sum_f2);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> f3_i = 0; f3_i &lt; nr_bins_f3; ++f3_i)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    fpfh_histogram[f3_i + nr_bins_f12] *= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sum_f3);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;}</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#a4817bc94da4f0b23bccbb793b6849469">  174</a></span>&#160;<a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a4817bc94da4f0b23bccbb793b6849469">pcl::FPFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::computeSPFHSignatures</a> (std::vector&lt;int&gt; &amp;spfh_hist_lookup,</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    Eigen::MatrixXf &amp;hist_f1, Eigen::MatrixXf &amp;hist_f2, Eigen::MatrixXf &amp;hist_f3)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;{</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="comment">// Allocate enough space to hold the NN search results</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="comment">// \note This resize is irrelevant for a radiusSearch ().</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  std::vector&lt;int&gt; nn_indices (k_);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  std::vector&lt;float&gt; nn_dists (k_);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  std::set&lt;int&gt; spfh_indices;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  spfh_hist_lookup.resize (surface_-&gt;points.size ());</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="comment">// Build a list of (unique) indices for which we will need to compute SPFH signatures</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="comment">// (We need an SPFH signature for every point that is a neighbor of any point in input_[indices_])</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordflow">if</span> (surface_ != input_ ||</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      indices_-&gt;size () != surface_-&gt;points.size ())</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  { </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#a4817bc94da4f0b23bccbb793b6849469">  191</a></span>&#160;    {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordtype">int</span> p_idx = (*indices_)[idx];</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keywordflow">if</span> (this-&gt;searchForNeighbors (p_idx, search_parameter_, nn_indices, nn_dists) == 0)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      spfh_indices.insert (nn_indices.begin (), nn_indices.end ());</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#a6465bc7973845bbae46e1f4f7ec4ca76">  200</a></span>&#160;  {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="comment">// Special case: When a feature must be computed at every point, there is no need for a neighborhood search</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      spfh_indices.insert (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (idx));</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="comment">// Initialize the arrays that will store the SPFH signatures</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="keywordtype">size_t</span> data_size = spfh_indices.size ();</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  hist_f1.setZero (data_size, nr_bins_f1_);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  hist_f2.setZero (data_size, nr_bins_f2_);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  hist_f3.setZero (data_size, nr_bins_f3_);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="comment">// Compute SPFH signatures for every point that needs them</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  std::set&lt;int&gt;::iterator spfh_indices_itr = spfh_indices.begin ();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; static_cast&lt;int&gt; (spfh_indices.size ()); ++i)</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="comment">// Get the next point index</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordtype">int</span> p_idx = *spfh_indices_itr;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    ++spfh_indices_itr;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="comment">// Find the neighborhood around p_idx</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">if</span> (this-&gt;searchForNeighbors (*surface_, p_idx, search_parameter_, nn_indices, nn_dists) == 0)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="comment">// Estimate the SPFH signature around p_idx</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    computePointSPFHSignature (*surface_, *normals_, p_idx, i, nn_indices, hist_f1, hist_f2, hist_f3);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="comment">// Populate a lookup table for converting a point index to its corresponding row in the spfh_hist_* matrices</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    spfh_hist_lookup[p_idx] = i;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  }</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;}</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#a6465bc7973845bbae46e1f4f7ec4ca76">  234</a></span>&#160;<a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a6465bc7973845bbae46e1f4f7ec4ca76">pcl::FPFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;{</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="comment">// Allocate enough space to hold the NN search results</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="comment">// \note This resize is irrelevant for a radiusSearch ().</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  std::vector&lt;int&gt; nn_indices (k_);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  std::vector&lt;float&gt; nn_dists (k_);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  std::vector&lt;int&gt; spfh_hist_lookup;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  computeSPFHSignatures (spfh_hist_lookup, hist_f1_, hist_f2_, hist_f3_);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="comment">// Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keywordflow">if</span> (input_-&gt;is_dense)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="comment">// Iterate over the entire index vector</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    {</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keywordflow">if</span> (this-&gt;searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; fpfh_histogram_.size (); ++d)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].histogram[d] = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="comment">// ... and remap the nn_indices values so that they represent row indices in the spfh_hist_* matrices </span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="comment">// instead of indices into surface_-&gt;points</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nn_indices.size (); ++i)</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        nn_indices[i] = spfh_hist_lookup[nn_indices[i]];</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="comment">// Compute the FPFH signature (i.e. compute a weighted combination of local SPFH signatures) ...</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      weightPointSPFHSignature (hist_f1_, hist_f2_, hist_f3_, nn_indices, nn_dists, fpfh_histogram_);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      <span class="comment">// ...and copy it into the output cloud</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; fpfh_histogram_.size (); ++d)</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].histogram[d] = fpfh_histogram_[d];</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    }</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  }</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="comment">// Iterate over the entire index vector</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keywordflow">if</span> (!isFinite ((*input_)[(*indices_)[idx]]) ||</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;          this-&gt;searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      {</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; fpfh_histogram_.size (); ++d)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].histogram[d] = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="comment">// ... and remap the nn_indices values so that they represent row indices in the spfh_hist_* matrices </span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      <span class="comment">// instead of indices into surface_-&gt;points</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nn_indices.size (); ++i)</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        nn_indices[i] = spfh_hist_lookup[nn_indices[i]];</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      <span class="comment">// Compute the FPFH signature (i.e. compute a weighted combination of local SPFH signatures) ...</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      weightPointSPFHSignature (hist_f1_, hist_f2_, hist_f3_, nn_indices, nn_dists, fpfh_histogram_);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      <span class="comment">// ...and copy it into the output cloud</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; fpfh_histogram_.size (); ++d)</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].histogram[d] = fpfh_histogram_[d];</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  }</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;}</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_FPFHEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::FPFHEstimation&lt;T,NT,OutT&gt;;</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_FEATURES_IMPL_FPFH_H_ </span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_a3b1ef7299aed97415635996347aa5992"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#a3b1ef7299aed97415635996347aa5992">pcl::FPFHEstimation::weightPointSPFHSignature</a></div><div class="ttdeci">void weightPointSPFHSignature(const Eigen::MatrixXf &amp;hist_f1, const Eigen::MatrixXf &amp;hist_f2, const Eigen::MatrixXf &amp;hist_f3, const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;dists, Eigen::VectorXf &amp;fpfh_histogram)</div><div class="ttdoc">Weight the SPFH (Simple Point Feature Histograms) individual histograms to create the final FPFH (Fas...</div><div class="ttdef"><b>Definition:</b> fpfh.hpp:106</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_a4817bc94da4f0b23bccbb793b6849469"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#a4817bc94da4f0b23bccbb793b6849469">pcl::FPFHEstimation::computeSPFHSignatures</a></div><div class="ttdeci">void computeSPFHSignatures(std::vector&lt; int &gt; &amp;spf_hist_lookup, Eigen::MatrixXf &amp;hist_f1, Eigen::MatrixXf &amp;hist_f2, Eigen::MatrixXf &amp;hist_f3)</div><div class="ttdoc">Estimate the set of all SPFH (Simple Point Feature Histograms) signatures for the input cloud</div><div class="ttdef"><b>Definition:</b> fpfh.hpp:174</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_a6465bc7973845bbae46e1f4f7ec4ca76"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#a6465bc7973845bbae46e1f4f7ec4ca76">pcl::FPFHEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by &lt;setInputCl...</div><div class="ttdef"><b>Definition:</b> fpfh.hpp:234</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_ab9e1a82df2cfe1b5ac5bef3060f093a7"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#ab9e1a82df2cfe1b5ac5bef3060f093a7">pcl::FPFHEstimation::computePairFeatures</a></div><div class="ttdeci">bool computePairFeatures(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, int p_idx, int q_idx, float &amp;f1, float &amp;f2, float &amp;f3, float &amp;f4)</div><div class="ttdoc">Compute the 4-tuple representation containing the three angles and one distance between two points re...</div><div class="ttdef"><b>Definition:</b> fpfh.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_ac1f596c9f4cfc10f4a89684ac48ba3e6"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#ac1f596c9f4cfc10f4a89684ac48ba3e6">pcl::FPFHEstimation::computePointSPFHSignature</a></div><div class="ttdeci">void computePointSPFHSignature(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, int p_idx, int row, const std::vector&lt; int &gt; &amp;indices, Eigen::MatrixXf &amp;hist_f1, Eigen::MatrixXf &amp;hist_f2, Eigen::MatrixXf &amp;hist_f3)</div><div class="ttdoc">Estimate the SPFH (Simple Point Feature Histograms) individual signatures of the three angular (f1,...</div><div class="ttdef"><b>Definition:</b> fpfh.hpp:61</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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